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<a href="jacobian__workspace_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef JACOBIAN_WORKSPACE_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define JACOBIAN_WORKSPACE_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Core&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/StdVector&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;cassert&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="hyper__graph_8h.html">hyper_graph.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keyword">struct </span>OptimizableGraph;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classg2o_1_1_jacobian_workspace.html">   50</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_jacobian_workspace.html">JacobianWorkspace</a></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  {</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classg2o_1_1_jacobian_workspace.html#aee9d767fa1208772a3de83732646e182">   53</a></span>&#160;      <span class="keyword">typedef</span> std::vector&lt;Eigen::VectorXd, Eigen::aligned_allocator&lt;Eigen::VectorXd&gt; &gt;      <a class="code" href="classg2o_1_1_jacobian_workspace.html#aee9d767fa1208772a3de83732646e182">WorkspaceVector</a>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <a class="code" href="classg2o_1_1_jacobian_workspace.html#a6c20de27401a40e620ee065c80d24b9e">JacobianWorkspace</a>();</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <a class="code" href="classg2o_1_1_jacobian_workspace.html#a0d00e42f6e048268ff5005b8e3f578dd">~JacobianWorkspace</a>();</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_jacobian_workspace.html#a8e1d23ced91b721fdb5bd68c8c4e9fc3">allocate</a>();</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_jacobian_workspace.html#a2d16ad6db1a51aa93c806cc9c06e223f">updateSize</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html">HyperGraph::Edge</a>* e);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_jacobian_workspace.html#a2d16ad6db1a51aa93c806cc9c06e223f">updateSize</a>(<span class="keyword">const</span> <a class="code" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a>&amp; graph);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_jacobian_workspace.html#a2d16ad6db1a51aa93c806cc9c06e223f">updateSize</a>(<span class="keywordtype">int</span> numVertices, <span class="keywordtype">int</span> dimension);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classg2o_1_1_jacobian_workspace.html#ad68c37d7779d3a034bc1b864cd98690b">   82</a></span>&#160;      <span class="keywordtype">double</span>* <a class="code" href="classg2o_1_1_jacobian_workspace.html#ad68c37d7779d3a034bc1b864cd98690b">workspaceForVertex</a>(<span class="keywordtype">int</span> vertexIndex)</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      {</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        assert(vertexIndex &gt;= 0 &amp;&amp; (<span class="keywordtype">size_t</span>)vertexIndex &lt; <a class="code" href="classg2o_1_1_jacobian_workspace.html#af7dbaa3a651808e1bf3f876896bd1bfc">_workspace</a>.size() &amp;&amp; <span class="stringliteral">&quot;Index out of bounds&quot;</span>);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_jacobian_workspace.html#af7dbaa3a651808e1bf3f876896bd1bfc">_workspace</a>[vertexIndex].data();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      }</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classg2o_1_1_jacobian_workspace.html#af7dbaa3a651808e1bf3f876896bd1bfc">   89</a></span>&#160;      WorkspaceVector <a class="code" href="classg2o_1_1_jacobian_workspace.html#af7dbaa3a651808e1bf3f876896bd1bfc">_workspace</a>;   </div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classg2o_1_1_jacobian_workspace.html#a640c84c19a739ce3116fc02c3a66b096">   90</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_jacobian_workspace.html#a640c84c19a739ce3116fc02c3a66b096">_maxNumVertices</a>;          </div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classg2o_1_1_jacobian_workspace.html#aa6cd4fb8bc1bb4fe9ada55d9feefc817">   91</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_jacobian_workspace.html#aa6cd4fb8bc1bb4fe9ada55d9feefc817">_maxDimension</a>;            </div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  };</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_jacobian_workspace_html_ad68c37d7779d3a034bc1b864cd98690b"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html#ad68c37d7779d3a034bc1b864cd98690b">g2o::JacobianWorkspace::workspaceForVertex</a></div><div class="ttdeci">double * workspaceForVertex(int vertexIndex)</div><div class="ttdoc">return the workspace for a vertex in an edge </div><div class="ttdef"><b>Definition:</b> jacobian_workspace.h:82</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html">g2o::HyperGraph::Edge</a></div><div class="ttdoc">Abstract Edge class. </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:119</div></div>
<div class="ttc" id="classg2o_1_1_jacobian_workspace_html_a2d16ad6db1a51aa93c806cc9c06e223f"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html#a2d16ad6db1a51aa93c806cc9c06e223f">g2o::JacobianWorkspace::updateSize</a></div><div class="ttdeci">void updateSize(const HyperGraph::Edge *e)</div><div class="ttdoc">update the maximum required workspace needed by taking into account this edge </div><div class="ttdef"><b>Definition:</b> jacobian_workspace.cpp:59</div></div>
<div class="ttc" id="hyper__graph_8h_html"><div class="ttname"><a href="hyper__graph_8h.html">hyper_graph.h</a></div></div>
<div class="ttc" id="classg2o_1_1_jacobian_workspace_html_af7dbaa3a651808e1bf3f876896bd1bfc"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html#af7dbaa3a651808e1bf3f876896bd1bfc">g2o::JacobianWorkspace::_workspace</a></div><div class="ttdeci">WorkspaceVector _workspace</div><div class="ttdoc">the memory pre-allocated for computing the Jacobians </div><div class="ttdef"><b>Definition:</b> jacobian_workspace.h:89</div></div>
<div class="ttc" id="classg2o_1_1_jacobian_workspace_html_a640c84c19a739ce3116fc02c3a66b096"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html#a640c84c19a739ce3116fc02c3a66b096">g2o::JacobianWorkspace::_maxNumVertices</a></div><div class="ttdeci">int _maxNumVertices</div><div class="ttdoc">the maximum number of vertices connected by a hyper-edge </div><div class="ttdef"><b>Definition:</b> jacobian_workspace.h:90</div></div>
<div class="ttc" id="classg2o_1_1_jacobian_workspace_html_a8e1d23ced91b721fdb5bd68c8c4e9fc3"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html#a8e1d23ced91b721fdb5bd68c8c4e9fc3">g2o::JacobianWorkspace::allocate</a></div><div class="ttdeci">bool allocate()</div><div class="ttdoc">allocate the workspace </div><div class="ttdef"><b>Definition:</b> jacobian_workspace.cpp:46</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_jacobian_workspace_html_a0d00e42f6e048268ff5005b8e3f578dd"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html#a0d00e42f6e048268ff5005b8e3f578dd">g2o::JacobianWorkspace::~JacobianWorkspace</a></div><div class="ttdeci">~JacobianWorkspace()</div><div class="ttdef"><b>Definition:</b> jacobian_workspace.cpp:42</div></div>
<div class="ttc" id="structg2o_1_1_optimizable_graph_html"><div class="ttname"><a href="structg2o_1_1_optimizable_graph.html">g2o::OptimizableGraph</a></div><div class="ttdoc">This is an abstract class that represents one optimization problem. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:64</div></div>
<div class="ttc" id="classg2o_1_1_jacobian_workspace_html"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html">g2o::JacobianWorkspace</a></div><div class="ttdoc">provide memory workspace for computing the Jacobians </div><div class="ttdef"><b>Definition:</b> jacobian_workspace.h:50</div></div>
<div class="ttc" id="classg2o_1_1_jacobian_workspace_html_aa6cd4fb8bc1bb4fe9ada55d9feefc817"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html#aa6cd4fb8bc1bb4fe9ada55d9feefc817">g2o::JacobianWorkspace::_maxDimension</a></div><div class="ttdeci">int _maxDimension</div><div class="ttdoc">the maximum dimension (number of elements) for a Jacobian </div><div class="ttdef"><b>Definition:</b> jacobian_workspace.h:91</div></div>
<div class="ttc" id="classg2o_1_1_jacobian_workspace_html_aee9d767fa1208772a3de83732646e182"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html#aee9d767fa1208772a3de83732646e182">g2o::JacobianWorkspace::WorkspaceVector</a></div><div class="ttdeci">std::vector&lt; Eigen::VectorXd, Eigen::aligned_allocator&lt; Eigen::VectorXd &gt; &gt; WorkspaceVector</div><div class="ttdef"><b>Definition:</b> jacobian_workspace.h:53</div></div>
<div class="ttc" id="classg2o_1_1_jacobian_workspace_html_a6c20de27401a40e620ee065c80d24b9e"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html#a6c20de27401a40e620ee065c80d24b9e">g2o::JacobianWorkspace::JacobianWorkspace</a></div><div class="ttdeci">JacobianWorkspace()</div><div class="ttdef"><b>Definition:</b> jacobian_workspace.cpp:37</div></div>
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